(base) asber@asber-X550VX:~/catkin_ws/src$ rospack depends1 beginner_tutorials
ImportError: No module named rosdep2.rospack
ImportError: No module named rosdep2.rospack
[rospack] Error: could not find python module 'rosdep2.rospack'. is rosdep up-to-date (at least 0.10.4)?
(base) asber@asber-X550VX:~/catkin_ws/src$ conda deactivate
asber@asber-X550VX:~/catkin_ws/src$ rospack depends1 beginner_tutorials
roscpp
rospy
std_msgs
但是roscore反而都可以运行，看来和python的关系比较小，应该只有在节点涉及到python pkg相关的时候会报错，而之前网上有说，其实在什么环境都可以，只需要把依赖包补全就可以运行。
那么我们分而化之，将分步完成
1.在ROS中实现python脚本对topic发布与订阅
2.在ROS中实现调用Anaconda创建的python环境调用topic收发脚本
3.实现ROS接受摄像头topic并且显示。
在系统python环境下
catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
然后按照此处进行编写catkin_make之后报错，这个不论shell在系统python还是conda(不论有没有pip install -U rosdep rosinstall_generator wstool rosinstall six vcstools，所有conda环境都一样)环境下都是这样
Traceback (most recent call last):
File “/opt/ros/kinetic/bin/catkin_make”, line 12, in
from catkin.init_workspace import init_workspace
ImportError: No module named catkin.init_workspace
看了一下 “/opt/ros/kinetic/bin/catkin_make”
#!/usr/bin/python
from __future__ import print_function
import argparse
import subprocess
然后我去掉了bashrc里面的#export PYTHONPATH="/home/asber/Document/anaconda2/envs/maskrcnn/lib/python3.4/site-packages:$PYTHONPATH"之后cm成功
catkin_make -DCATKIN_WHITELIST_PACKAGES=“beginner_tutorials”
在base(conda默认环境下)roscore没问题 rosrun talker.py提示 ImportError: No module named rospkg
而在系统默认python环境下
asber@asber-X550VX:~/catkin_ws$ rosrun beginner_tutorials talker.py
[INFO] [1580650700.904364]: hello world 1580650700.9
[INFO] [1580650701.004527]: hello world 1580650701.0
[INFO] [1580650701.104569]: hello world 1580650701.1
而在之前pip install -U rosdep rosinstall_generator wstool rosinstall six vcstools的conda换进maskrcnn下rosrun beginner_tutorials talker.py
(maskrcnn) asber@asber-X550VX:~/catkin_ws$ rosrun beginner_tutorials talker.py
[INFO] [1580650741.783082]: hello world 1580650741.7829542
[INFO] [1580650741.883559]: hello world 1580650741.8832698
证明貌似只要pkg足够，在python3的环境下，只是用script进行python程序的运行是可行的。
暂时认定可行，只要相关pkg完整
参考:https://blog.csdn.net/xiao__run/article/details/88943473
catkin_make -DCATKIN_WHITELIST_PACKAGES=“tag_detector”
就会出现
在函数‘imageCallback(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)’中：
listen_image.cpp:(.text+0xb0)：对‘cv::imshow(cv::String const&, cv::_InputArray const&)’未定义的引用
CMakeFiles/tag_detector_listen.dir/src/listen_image.cpp.o：在函数‘main’中：
listen_image.cppCMakeFiles/tag_detector_pub.dir/src/:image_raw.cpp.o：��(��.��数text+0x405)：对‘cv::namedWindow(cv::String ‘main’const中：
image_raw.cpp:&(.text,+0x1fa) ：�int��)‘’未定义的引用
listen_image.cppcv::imshow(cv:(.text+0x419)：对‘cv::startWindowThread()��::String const&, cv::_InputArray const&)’未定义的引用
image_raw.cpp:(.text+0x409)：对‘cv::waitKey(int)’未定义的引用
collect2: error: ld returned 1 exit status
�未定义的引用
listen_image.cpp:(.text+0x66b)：对‘cv::destroyWindow(cv::String const&)’未定义的引用
collect2: error: ld returned 1 exit status
tag_detector/CMakeFiles/tag_detector_pub.dir/build.make:128: recipe for target '/home/asber/catkin_ws/devel/lib/tag_detector/tag_detector_pub' failed
我估计是Cmakelist那边有问题，没有很好的链接到opencv的库，所以找不到定义。
需要改为
cmake_minimum_required(VERSION 2.8.3)
project(my_image_transport)
find_package(catkin REQUIRED COMPONENTS
OpenCV
cv_bridge
image_transport
#catkin_package(
# LIBRARIES my_image_transport
# CATKIN_DEPENDS cv_bridge image_transport
include_directories(
include
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
include_directories(include ${OpenCV_INCLUDE_DIRS})
#build my_publisher and my_subscriber
add_executable(my_publisher src/my_publisher.cpp)
target_link_libraries(my_publisher ${catkin_LIBRARIES} ${OpenCV_INCLUDE_DIRS})
add_executable(my_subscriber src/my_subscriber.cpp)
target_link_libraries(my_subscriber ${catkin_LIBRARIES} ${OpenCV_INCLUDE_DIRS})
如果rosrun找不到，去掉注释然后cm
发送的pkg正确运行，但是
接受之后报错
OpenCV Error: Assertion failed (size.width>0 && size.height>0) in imshow, file /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/highgui/src/window.cpp, line 331
terminate called after throwing an instance of 'cv::Exception'
what(): /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/highgui/src/window.cpp:331: error: (-215) size.width>0 && size.height>0 in function imshow
已放弃 (核心已转储)
不知道什么原因，自己的路径也是对的，待解决
参考:ROS中订阅和发布视频中的图像消息
Tip:chmod +x xxx.py才可以找到可执行的python脚本
按照此处python2 opencv 实现
运行发送脚本的时候报错如下
Traceback (most recent call last):
File "/home/asber/catkin_ws/src/my_image_transport/scripts/my_publisher.py", line 12, in <module>
import cv2
ImportError: /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so: undefined symbol: PyCObject_Type
参考解决方案:使用第二种，在python文件中
import sys
sys.path.remove('/opt/ros/kinetic/lib/python2.7/dist-packages')
但是还会出现
from cv_bridge.boost.cv_bridge_boost import getCvType
ImportError: dynamic module does not define module export function (PyInit_cv_bridge_boost)
没有cv_brige的情况，这里我们先切换到原本的python环境(系统自带)
参考:编译python3版本的cv_bridge
相同csdn:https://blog.csdn.net/qq_33591712/article/details/84788231
步骤:
0.sudo apt install python-catkin-tools python3-dev python3-catkin-pkg-modules python3-numpy python3-yaml ros-kinetic-cv-bridge
1.cd ~/catkin_ws/
2.sudo catkin config -DPYTHON_EXECUTABLE=/home/asber/Document/anaconda2/envs/maskrcnn/bin/python3 -DPYTHON_INCLUDE_DIR=/home/asber/Document/anaconda2/envs/maskrcnn/include/python3.4m -DPYTHON_LIBRARY=/home/asber/Document/anaconda2/envs/maskrcnn/lib/libpython3.4m.so
配置工作空间，后面的-DPYTHON_INCLUDE_DIR 什么的是CMake的选项
-------------------------------------------------------------------------------------------------
Profile: default
Extending: None
Workspace: /home/asber/catkin_ws
-------------------------------------------------------------------------------------------------
Build Space: [missing] /home/asber/catkin_ws/build
Devel Space: [missing] /home/asber/catkin_ws/devel
Install Space: [missing] /home/asber/catkin_ws/install
Log Space: [missing] /home/asber/catkin_ws/logs
Source Space: [exists] /home/asber/catkin_ws/src
DESTDIR: [unused] None
-------------------------------------------------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: merged
-------------------------------------------------------------------------------------------------
Additional CMake Args: -DPYTHON_EXECUTABLE=/home/asber/Document/anaconda2/envs/maskrcnn/bin/python3 -DPYTHON_INCLUDE_DIR=/home/asber/Document/anaconda2/envs/maskrcnn/include/python3.4m -DPYTHON_LIBRARY=/home/asber/Document/anaconda2/envs/maskrcnn/lib/libpython3.4m.so
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
-------------------------------------------------------------------------------------------------
Whitelisted Packages: None
Blacklisted Packages: None
-------------------------------------------------------------------------------------------------
-------------------------------------------------------------------------------------------------
WARNING: Your workspace is not extending any other result space, but it is set to use a `linked`
devel space layout. This requires the `catkin` CMake package in your source space in order to be
built.
-----------------------------------------------------------------------------------------------
3.sudo catkin config --install 将安装切换到指定的安装空间,也就是设置了Install Space: [missing] /home/asber/catkin_ws/install
对catkin的参数了解请看这里
4.git clone https://github.com/ros-perception/vision_opencv.git src/vision_opencv
5.cd src/vision_opencv/
6.apt-cache show ros-kinetic-cv-bridge | grep Version
7.git checkout 1.12.8
8.cd …/…/ && sudo catkin build cv_bridge
在这里出现一些我觉得有必要了解为什么的tips
WARNING: Your workspace is not extending any other result space, but it is set to use a `linked`
devel space layout. This requires the `catkin` CMake package in your source space in order to be
built.
[build] Found '88' packages in 0.0 seconds.
Starting >>> catkin_tools_prebuild
________________________________________________________________________________________________
Errors << catkin_tools_prebuild:cmake /home/asber/catkin_ws/logs/catkin_tools_prebuild/build.cmake.000.log
CMake Error at /home/asber/catkin_ws/build/catkin_tools_prebuild/CMakeLists.txt:12 (message):
The catkin CMake module was not found, but it is required to build a linked
workspace. To resolve this, please do one of the following, and try
building again.
1. Source the setup.sh file from an existing catkin workspace:
source SETUP_FILE
2. Extend another catkin workspace's result (install or devel) space:
catkin config --extend RESULT_SPACE
3. Set `catkin_DIR` to the directory containing `catkin-config.cmake`:
catkin config --cmake-args -Dcatkin_DIR=CATKIN_CMAKE_CONFIG_PATH
4. Add the catkin source package to your workspace's source space:
cd SOURCE_SPACE && git clone https://github.com/ros/catkin.git
cd /home/asber/catkin_ws/build/catkin_tools_prebuild; catkin build --get-env catkin_tools_prebuild | catkin env -si /usr/bin/cmake /home/asber/catkin_ws/build/catkin_tools_prebuild --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/asber/catkin_ws/devel/.private/catkin_tools_prebuild -DCMAKE_INSTALL_PREFIX=/home/asber/catkin_ws/install -DPYTHON_EXECUTABLE=/home/asber/Document/anaconda2/envs/maskrcnn/bin/python3 -DPYTHON_INCLUDE_DIR=/home/asber/Document/anaconda2/envs/maskrcnn/include/python3.4m -DPYTHON_LIBRARY=/home/asber/Document/anaconda2/envs/maskrcnn/lib/libpython3.4m.so; cd -
................................................................................................
Failed << catkin_tools_prebuild:cmake [ Exited with code 1 ]
Failed <<< catkin_tools_prebuild [ 1.1 seconds ]
Abandoned <<< cv_bridge [ Unrelated job failed ]
[build] Summary: 0 of 2 packages succeeded.
[build] Ignored: 87 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: 1 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 1.4 seconds total.
然后sudo catkin clean -y
然后我sudo catkin config --extend /opt/ros/kinetic后显示
-------------------------------------------------------------------------------------------------
Profile: default
Extending: [explicit] /opt/ros/kinetic
Workspace: /home/asber/catkin_ws
-------------------------------------------------------------------------------------------------
Build Space: [missing] /home/asber/catkin_ws/build
Devel Space: [missing] /home/asber/catkin_ws/devel
Install Space: [missing] /home/asber/catkin_ws/install
Log Space: [missing] /home/asber/catkin_ws/logs
Source Space: [exists] /home/asber/catkin_ws/src
DESTDIR: [unused] None
-------------------------------------------------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: merged
-------------------------------------------------------------------------------------------------
Additional CMake Args: -DPYTHON_EXECUTABLE=/home/asber/Document/anaconda2/envs/maskrcnn/bin/python3 -DPYTHON_INCLUDE_DIR=/home/asber/Document/anaconda2/envs/maskrcnn/include/python3.4m -DPYTHON_LIBRARY=/home/asber/Document/anaconda2/envs/maskrcnn/lib/libpython3.4m.so
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
-------------------------------------------------------------------------------------------------
Whitelisted Packages: None
Blacklisted Packages: None
-------------------------------------------------------------------------------------------------
Workspace configuration appears valid.
-----------------------------------------------------------------------------------------------
从之前的Extending: None
到现在的Extending: [explicit] /opt/ros/kinetic
问题貌似解决了，进行sudo catkin build cv_bridge 之后build cv_brige的时候又报错了
Unable to find the requested Boost libraries.
Boost version: 1.58.0
Boost include path: /usr/include
Could not find the following Boost libraries:
boost_python3
No Boost libraries were found. You may need to set BOOST_LIBRARYDIR to the
directory containing Boost libraries or BOOST_ROOT to the location of
Boost.
Call Stack (most recent call first):
CMakeLists.txt:11 (find_package)
根据此处，此处以及此处
还有此处
执行
./bootstrap.sh --with-python=/home/asber/Document/anaconda2/envs/maskrcnn/bin/python3 --with-python-root=/home/asber/Document/anaconda2/envs/maskrcnn/lib/python3.4 --with-python-version=3.4 --prefix=/usr/local/boost
然后project-config.jam这个文件python.configured的部分
using python : 3.4 : "/home/asber/Document/anaconda2/envs/maskrcnn/lib/python3.4" :"/home/asber/Document/anaconda2/envs/maskrcnn/include/python3.4m" :"/home/asber/Document/anaconda2/envs/maskrcnn/lib";
- ./b2 cflags=’-fPIC’ cxxflags=’-fPIC’ --with-python include="/home/asber/Document/anaconda2/envs/maskrcnn/include/python3.4m/"
The following directory should be added to compiler include paths:
/home/asber/Documents/boost_1_67_0
The following directory should be added to linker library paths:
/home/asber/Documents/boost_1_67_0/stage/lib
去这里可以查看libboost_python27.a .so什么的
- sudo ./b2 install
执行这两个命令正式的进行编译，时间有些长。生成的库文件在./stage/lib/中，名字为libboost_python34.a libboost_python34.so libboost_python34.so.1.72.0
sudo cp libboost_python34* /usr/local/lib
cd /usr/local/lib
sudo ln -s libboost_python34.so libboost_python3.so
sudo ln -s libboost_python34.a libboost_python3.a
sudo vim ~/.bashrc
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
source ~/.bashrc
至此应该安装成功
然后到catkin_ws下sudo catkin build cv_bridge
________________________________________________________________________________________________
Errors << cv_bridge:cmake /home/asber/catkin_ws/logs/cv_bridge/build.cmake.001.log
CMake Error at /usr/local/lib/cmake/Boost-1.72.0/BoostConfig.cmake:120 (find_package):
Could not find a package configuration file provided by "boost_python3"
(requested version 1.72.0) with any of the following names:
boost_python3Config.cmake
boost_python3-config.cmake
Add the installation prefix of "boost_python3" to CMAKE_PREFIX_PATH or set
"boost_python3_DIR" to a directory containing one of the above files. If
"boost_python3" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
/usr/local/lib/cmake/Boost-1.72.0/BoostConfig.cmake:185 (boost_find_component)
/usr/share/cmake-3.5/Modules/FindBoost.cmake:245 (find_package)
CMakeLists.txt:11 (find_package)
可能是boost版本太高了，去这里下载
对于纯的Python代码同时支持Python3和Python2.7是比较容易的，基本上ROS的代码也都是支持的。问题在于包含了C++或者C的那部分Python代码。Python2.7和Python3的c module代码相差很大。一次只能编译其中的一种版本。而且很多module没有做好Python3的支持。在Python3环境下也无法编译。这就是ROS无法支持Python3的原因。----出处
但是其实是可以运行python3的程序的，网上有很多参考方法
1.切换python版本(base)
临时:输入$ conda deactivate，(base)消失
永久:conda config --set auto_activate_base false
但是这样使用不了conda下的环境maskrcnn，所以不用。
2.在anaconda版本的python中下载库
$ conda install setuptools
$ pip install -U rosdep rosinstall_generator wstool rosinstall six vcstools
实验证明在anaconda环境下pip install -U rosdep rosinstall_generator wstool rosinstall six vcstools之后rospack还是报错如下
ImportError: No module named rosdep2.rospack
[rospack] Error: could not find python module 'rosdep2.rospack'. is rosdep up-to-date (at least 0.10.4)?
按照此处终端输入命令sudo apt-get install python3-rosdep
下列软件包有未满足的依赖关系：
python3-rosdep : 依赖: python3-catkin-pkg 但是它将不会被安装
依赖: python3-rospkg 但是它将不会被安装
依赖: python3-rosdep-modules (>= 0.18.0) 但是它将不会被安装
E: 无法修正错误，因为您要求某些软件包保持现状，就是它们破坏了软件包间的依赖关系。
故我认为不能直接暴力的在conda的环境里安装即可，需要通过其他的方式隔绝python2，然后单纯使用python3的环境，不过上述只是rospack不能运行，并不能说明其他的pkg不能运行python3
3.修改系统软链接
我看了一下的/usr/bin下的确有很多python的版本，但是貌似没有anaconda下面的，我看了一下anaconda的python解释器在anaconda2/bin下，其他环境的(比如maskrcnn)在anaconda2/envs/maskrcnn/bin下。
4.使用virtualenv创建一个Python3的环境，在这个环境中编译安装自己需要的软件包
5.直接在要执行的python脚本中添加python解释其调用的注释
参考:
https://blog.csdn.net/lixujie666/article/details/89183941
https://blog.csdn.net/weixin_42828571/article/details/102844532
https://blog.csdn.net/weixin_30342827/article/details/96302774
https://blog.csdn.net/hjw756517/article/details/81563614?utm_source=blogxgwz8
https://blog.csdn.net/LutherK
有时候需要同时使用较高版本的openCV,但一般默认安装的ros系统的cv_bridge包关联的Opencv版本都较低，这时候就需要将cv_bridge关联到自己安装的高版本OpenCV。
成功方法为第三条，前两条为遇到的问题记录。
注意：切勿随意尝试卸载cv_bridge包
1.首先，我尝试了网上已有的一些通过修改cv_bridge的配置文件的方法，
$ cd /opt/ros/kinetic/share/cv_bridge/cmake/
$ sudo gedit cv_bridgeConfig.cmak
一、源码编译
1、首先进入python3的环境并安装相关依赖包
sudo apt-get install python-catkin-tools python3-dev python3-catkin-pkg-modules python3-numpy python3-yaml ros-melodic-cv-bridge
2、创建一个工作空间用于存放待编译的 cv_bridge 文件
mkdir -p catkin_workspace/src
3、指示carkin设置cmake变量
cd catkin_w
import numpy as np
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
import cv2.
import rospyfrom sensor_msgs.msg import Imagefrom std_msgs.msg import Stringfrom cv_bridge import CvBridge, CvBridgeErrorimport cv2import numpy as npimport tensorflow as tfimport classify_imageclass R...
环境Ubuntu 14.04 + ROS indigo 今早装了个catkin工具，装了部分依赖，然后下午在编译ORB-SLAM2的时候突然被卡住了，一个近乎诡异的报错，提示：[rospack] Error: could not call python function 'rosdep2.rospack.init_rospack_interface'
详细报错信息如下：Failed to invo
Traceback (most recent call last):
File "/home/suli/.local/lib/python2.7/site-packages/rosdep2/__init__.py", line 40, in <module>
from .installers import InstallerContext, ...
2019.07.22 16:54:20字数 1,058阅读 2,397
本文主要是总结7.15日到7.21日期间对ROS图像数据传递的学习，美其名曰总结，说白了就是搬砖。网页链接如下：
Converting between ROS images and OpenCV images (C++)
Writing a Simple Image Publisher (C++)
Writing a Simple Image Subscr
$ catkin_make它就报错了：
CMake Error at /opt/ros/noetic/share/catkin/cmake/empy.cmake:30 (message):
Unable to find either executable 'empy' or Python module 'em'... try
installing the package 'python3-empy'
最后就来一句Invok...
name = "mylib",
srcs = ["MyLibrary.java", "MyHelper.java"],
visibility = ["//java/com/example/myproduc
安装完成后，在.bashrc/会出现：
# >>> conda initialize >>>
# !! Contents within this block are managed by 'conda init' !!
__conda_setup="$('/home/“user”/anaconda3/bin/conda' 's...
因为毕业设计要求在ROS1下运行Python3环境下的MaskRCNN，虽然在Anaconda下跑通了DEMO，但是我发现在PYTHON3.4环境下rosrun我读取摄像头的python程序就会报错Traceback (most recent call last):File "/home/asber/catkin_ws/src/my_image_transport/scripts/my_publi...
